WIP: Feat/ocv soc table - soc estimation model

include/ACU_Constants.h

@@ -24,7 +24,7 @@ namespace ACUSystems
     constexpr const volt VOLTAGE_DIFF_TO_INIT_CB = 0.02;  // differential with lowest cell voltage to enable cell balancing for a cell
     constexpr const celsius BALANCE_TEMP_LIMIT_C = 50.0;
     constexpr const celsius BALANCE_ENABLE_TEMP_THRESH_C = 35.0; // Celsius
-    constexpr const volt TS_ISOLATION_VOLTAGE = 50; // Volts
+    constexpr const volt TS_ISOLATION_VOLTAGE = 100; // Volts
 }
 
 namespace ACUInterfaces {
@@ -70,7 +70,7 @@ namespace ACUInterfaces {
 
     constexpr const size_t TEENSY_OK_PIN = 3; // > Needs to stay HIGH while wd_kick_pin flips to keep BMS_OK high
     constexpr const size_t WD_KICK_PIN = 4;       // > Needs to flip at 100 Hz to keep BMS_OK high
-        constexpr const size_t SW_NOT_OK_PIN = 5;  // should be HIGH by default, and then set LOW after traversing state machine
+    constexpr const size_t SW_NOT_OK_PIN = 5;  // should be HIGH by default, and then set LOW after traversing state machine
     constexpr const size_t N_FAULTED_STATE_PIN = 6;    // > Input to Safety Light, true when teensy is not in FAULT state
 
     constexpr const size_t BSPD_CURRENT_PIN = 15;
@@ -100,7 +100,6 @@ namespace ACUInterfaces {
 
     constexpr const float BIT_RESOLUTION = 4095.0F;
 }
-
 namespace ACUConstants
 {  
     constexpr size_t NUM_CELLS = 126;
@@ -119,42 +118,42 @@ namespace ACUConstants
     /* Task Times */
     constexpr uint32_t TICK_SM_PERIOD_US = 1000UL; // 1 000 us = 1000 Hz
     constexpr uint32_t TICK_SM_PRIORITY = 9;
-    constexpr uint32_t KICK_WATCHDOG_PERIOD_US = 5000UL; // 5000 us = 200 Hz
+    constexpr uint32_t KICK_WATCHDOG_PERIOD_US = 4000UL; // 10 000 us = 100 Hz
     constexpr uint32_t WATCHDOG_PRIORITY = 1;
-    constexpr uint32_t SAMPLE_BMS_PERIOD_US = 10000UL; // 10 000 us = 100 Hz (since we are reading by group)
+    constexpr uint32_t SAMPLE_BMS_PERIOD_US = 20000UL; // 5 000 us = 200 Hz (since we are reading by group)
     constexpr uint32_t SAMPLE_BMS_PRIORITY = 2;
-    constexpr uint32_t EVAL_ACC_PERIOD_US = 20000UL; // 20 000 us = 50 Hz
+    constexpr uint32_t EVAL_ACC_PERIOD_US = 20000UL; // 20 000 us = 50 Hz (problem for soc if this is running faster than voltage)
     constexpr uint32_t EVAL_ACC_PRIORITY = 10;
     constexpr uint32_t WRITE_CELL_BALANCE_PERIOD_US = 100000UL; // 100 000 us = 10 Hz
     constexpr uint32_t WRITE_CELL_BALANCE_PRIORITY = 15;
     constexpr uint32_t ALL_DATA_ETHERNET_PERIOD_US = 100000UL; // 100 000 us = 10 Hz
     constexpr uint32_t ALL_DATA_ETHERNET_PRIORITY = 5;
-    constexpr uint32_t CORE_DATA_ETHERNET_PERIOD_US = 4000UL; // 20 000 us = 50 Hz
+    constexpr uint32_t CORE_DATA_ETHERNET_PERIOD_US = 8000UL; // 8 000 us = 125 Hz
     constexpr uint32_t CORE_DATA_ETHERNET_PRIORITY = 4;
 
-    constexpr uint32_t SAMPLE_ADC_PRIORITY = 20;
-    constexpr uint32_t SAMPLE_ADC_PERIOD_US = 5000UL; // 10 000 us = 100 Hz
+    constexpr uint32_t SAMPLE_ADC_PRIORITY = 11;
+    constexpr uint32_t SAMPLE_ADC_PERIOD_US = 1000UL; // 1 000 us = 1000 Hz
 
     constexpr uint32_t CCU_SEND_PERIOD_US = 100000UL; // 100 000 us = 10 Hz
-    constexpr uint32_t CCU_SEND_PRIORITY = 11;
+    constexpr uint32_t CCU_SEND_PRIORITY = 14;
     constexpr uint32_t ACU_OK_CAN_PERIOD_US = 50000UL; // 50 000 us = 20 Hz
     constexpr uint32_t ACU_OK_CAN_PRIORITY = 3;
     constexpr uint32_t CCU_SEND_A_PERIOD_US = 100000UL; // 100 000 us = 10 Hz
     constexpr uint32_t CCU_SEND_A_PRIORITY = 12;
     constexpr uint32_t CCU_SEND_B_PERIOD_US = 100000UL; // 100 000 us = 10 Hz
     constexpr uint32_t CCU_SEND_B_PRIORITY = 13;
-    constexpr uint32_t EM_MEASUREMENT_SEND_PERIOD_US = 4000UL; // 10 000 us = 100 Hz
+    constexpr uint32_t EM_MEASUREMENT_SEND_PERIOD_US = 4000UL; // 4 000 us = 250 Hz
     constexpr uint32_t EM_MEASUREMENT_SEND_PRIORITY = 6;
 
-    constexpr uint32_t SEND_CAN_PERIOD_US = 4000UL; // 10 000 us = 100 Hz
+    constexpr uint32_t SEND_CAN_PERIOD_US = 4000UL; // 40 000 us = 250 Hz
     constexpr uint32_t SEND_CAN_PRIORITY = 8;
-    constexpr uint32_t RECV_CAN_PERIOD_US = 10000UL; // 10 000 us = 100 Hz
+    constexpr uint32_t RECV_CAN_PERIOD_US = 50000UL; // 50 000 us = 20 Hz
     constexpr uint32_t RECV_CAN_PRIORITY = 7;
 
     constexpr uint32_t DEBUG_PRINT_PERIOD_US = 250000UL; // 250 000 us = 4 Hz
     constexpr uint32_t DEBUG_PRINT_PRIORITY = 20;
 
-    constexpr uint32_t IDLE_SAMPLE_PERIOD_US = 200UL; // 1 000 us = 100 Hz
+    constexpr uint32_t IDLE_SAMPLE_PERIOD_US = 1000UL; // 1 000 us = 1000 Hz
     constexpr uint32_t IDLE_SAMPLE_PRIORITY = 0;
 
     /* Message Interface */

lib/interfaces/include/ADCInterface.h

@@ -14,7 +14,7 @@ namespace adc_default_parameters
     constexpr const float TEENSY41_MAX_DIGITAL_READ_VOLTAGE_THRESH = 2.8F;
     constexpr const float SHUTDOWN_VOLTAGE_DIGITAL_THRESHOLD = 12.0F;
 
-    constexpr const uint32_t IMD_STARTUP_TIME = 2000;
+    constexpr const uint32_t IMD_STARTUP_TIME = 10000;
     constexpr const float TEENSY41_MAX_INPUT_VOLTAGE = 3.3F;
 
     constexpr int MAX114X_VERSION = 8;

lib/interfaces/include/BMSDriverGroup.h

@@ -10,6 +10,7 @@
 #include <cstdint>
 #include "etl/optional.h"
 #include <numeric>
+#include <atomic>
 
 #include "etl/singleton.h"
 
@@ -29,7 +30,7 @@ enum class SPIState_e
     IDLE = 0,
     WAIT_WRITE_COMPLETE = 1,
     WAIT_POLL_ADC_COMPLETE = 2,
-    START_CONVERSION = 3,
+    START_CONVERSIONS = 3,
     WAIT_CONVERSION = 4,
     WAIT_READ_COMPLETE = 5,
 };
@@ -95,8 +96,8 @@ namespace bms_driver_defaults
     constexpr const uint16_t OVER_VOLTAGE_THRESHOLD = 2625;  // 4.2V (datasheet formula) Comparison Voltage = VOV • 16 • 100μV
     constexpr const uint16_t GPIO_ENABLE = 0x1F;
     constexpr const uint16_t CRC15_POLY = 0x4599; // Used for calculating the PEC table for LTC6811
-    constexpr const uint16_t CV_ADC_CONVERSION_TIME_US = 2000;
-    constexpr const uint16_t GPIO_ADC_CONVERSION_TIME_US = 2000;
+    constexpr const uint16_t CV_ADC_CONVERSION_TIME_US = 1200;
+    constexpr const uint16_t GPIO_ADC_CONVERSION_TIME_US = 1200;
     constexpr const float CV_ADC_LSB_VOLTAGE = 0.0001f; // Cell voltage ADC resolution: 100μV per LSB (1/10000 V)
 }
 
@@ -281,6 +282,8 @@ class BMSDriverGroup
      */
     const char* get_current_read_group_name();
 
+    const char* get_spi_state_name();
+
     /**
      * @brief Get validity status for all chips from last read
      * @return Const reference to validity data array (no copy overhead)
@@ -324,11 +327,20 @@ class BMSDriverGroup
         return _config;
     }
 
+    /**
+     * @brief Runs atomic fetch and clear so it does everything in one atomic operation on the new voltage for fresh flag
+     * @return true if the voltage data is fresh (only happens once per good cycle)
+     * @return false if the voltage data is not fresh
+     */
+    bool check_clear_voltage_ready() {
+        return _new_voltage_data_ready.exchange(false, std::memory_order_acquire);
+    }
+
 private:
 
     ReadGroup_e _current_read_group = ReadGroup_e::CV_GROUP_A;
 
-    SPIState_e _spi_state = SPIState_e::IDLE;
+    SPIState_e _spi_state = SPIState_e::START_CONVERSIONS;
 
     /**
      * PEC:
@@ -390,6 +402,8 @@ class BMSDriverGroup
      */
     void _start_cell_voltage_ADC_conversion();
 
+    void _init_adc_conversion();
+
     /**
      * Writes command to start GPIO ADC conversion
      * @post packaged data transfered over SPI, need to delay before we can read
@@ -523,6 +537,9 @@ class BMSDriverGroup
     array<uint8_t, cmd_and_data_buffer_size> _rx_read_buffer;
     array<uint8_t, cmd_only_buffer_size> _tx_write_buffer;
     array<uint8_t, cmd_only_buffer_size> _rx_write_buffer;
+
+    // Says if voltage data is fresh for the state of charge estimator
+    std::atomic<bool> _new_voltage_data_ready{false};
 };
 
 template <size_t num_chips, size_t num_chip_selects, LTC6811_Type_e chip_type>